阅读说明：本技术 便于多角度调节的软体机器人及具有该装置的医疗设备 (Soft robot convenient to multi-angle is adjusted and medical equipment who has device ) 是由 陶诗聪 郭尚春 于 2019-11-01 设计创作，主要内容包括：本发明提出一种便于多角度调节的软体机器人及具有该装置的医疗设备,考虑到关节镜手术的特点：关节镜手术的过程中,会不断用生理盐水冲洗视野,整个关节内都充满了生理盐水,并且生理盐水会通过排出口排出,整个关节处于流水冲刷的状态。因此,利用这个特点,通过生理盐水驱动软体机器人,利用对生理盐水排出过程进行调控,驱动机器人关节舒张收缩,从而带动关节镜手术设备灵活弯曲运动。(The invention provides a soft robot convenient for multi-angle adjustment and medical equipment with the soft robot, which consider the characteristics of arthroscopic surgery: in the process of arthroscopic surgery, the field of vision can be continuously flushed by physiological saline, the whole joint is filled with the physiological saline, the physiological saline can be discharged through the discharge port, and the whole joint is in a flowing water flushing state. Therefore, by utilizing the characteristic, the soft robot is driven by the physiological saline, the joint of the robot is driven to relax and contract by regulating and controlling the discharge process of the physiological saline, and the arthroscopic surgical equipment is driven to flexibly bend.)

1. A soft robot convenient for multi-angle adjustment is characterized by comprising a plurality of sections of hoses which are sequentially connected end to end;

the water inlet end of each section of the hose is provided with a water inlet valve; the water outlet end of each section of the hose is provided with a water outlet valve; and a bending assisting cavity is arranged in the middle of each section of the hose, and a control valve is preset between the bending assisting cavity and the hose.

2. The soft robot facilitating multi-angle adjustment of claim 1, wherein the upper end surface of the bending-assistant cavity is of a continuous concave-convex organ-shaped structure.

3. The soft robot convenient for multi-angle adjustment of claim 1, wherein the hose is a rubber hose or a metal hose with variability; the bending-assisted cavity is made of soft rubber.

4. An arthroscope, using the soft robot convenient for multi-angle adjustment according to any one of claims 1-3, characterized by comprising a plurality of soft robots, a camera, a bendable waterproof layer and a cable;

the camera is fixed at the end of the cable, and the periphery of the cable is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the cable and the bendable waterproof layer and are uniformly arranged along the periphery of the cable; the length direction of the soft robot is consistent with the length direction of the cable.

5. The arthroscope of claim 4, wherein an optical fiber for supplementing light for the camera is arranged at the end of the cable around the camera.

6. A grinding drill, which uses the soft robot convenient for multi-angle adjustment in any one of claims 1-3, and is characterized by comprising a plurality of soft robots, a grinding head, a bendable water-resisting layer and a bendable driving rod;

the grinding head is fixed at the end head of the driving rod, and the periphery of the driving rod is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the driving rod and the bendable waterproof layer and are uniformly arranged along the periphery of the driving rod; the length direction of the soft robot is consistent with the length direction of the driving rod.

7. The abrasive drill of claim 6, wherein a wear layer is pre-positioned between the drive rod and the soft robot.

8. An electric drill using the soft robot convenient for multi-angle adjustment as claimed in any one of claims 1-3, characterized by comprising a plurality of soft robots, a drill bit, a bendable water-resisting layer and a bendable driving rod;

the drill bit is fixed at the end of the driving rod, and the periphery of the driving rod is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the driving rod and the bendable waterproof layer and are uniformly arranged along one circle of the periphery of the driving rod; the length direction of the soft robot is consistent with the length direction of the driving rod.

9. The electric drill of claim 8, wherein a wear layer is pre-positioned between the drive rod and the soft robot.

10. A rivet holder, using the soft robot convenient for multi-angle adjustment of any one of claims 1-3, characterized by comprising a plurality of soft robots, a rivet holder, a bendable waterproof layer and a bendable fixing rod;

the rivet clip is fixed at the end of the fixed rod, and the periphery of the fixed rod is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the fixed rod and the bendable waterproof layer and are uniformly arranged along one circle of the periphery of the fixed rod; the length direction of the soft robot is consistent with the length direction of the fixed rod.

Technical Field

The invention relates to the technical field of medical equipment, in particular to a soft robot convenient for multi-angle adjustment and medical equipment with the soft robot.

Background

Arthroscopic techniques have generally evolved from surgical procedures based on large incisions, the critical elements of the procedure (e.g., the removal of a torn meniscus) generally remaining unchanged. Smaller size incisions and less tissue damage in arthroscopic surgery can reduce the incidence of postoperative complications. Therapeutic arthroscopy now involves the removal, reconstruction and replacement of damaged or abnormal tissue.

In the operation of reconstructing damaged tissues, the steps are complex, the number of applied devices is large, arthroscopic observation is needed, holes are created in the tissues through an electric drill, rivets are further implanted or a grinding drill is utilized to grind the bone hyperplasia parts;

to achieve better surgical results, surgeons often need to change the incision. Such an operation increases the difficulty of the upper hand of the physician who just touches the arthroscope. However, even by this method, the equipment in arthroscopic surgery often has an unavoidable dead angle due to the limitation of some anatomical structures of human body, for example, when using hip arthroscope, the inner back side of femoral neck is an area which is difficult to grind and the labrum is difficult to repair by rivets after drilling holes in the area; in addition, rigid devices are often pulled by the surgeon in order to accurately locate the desired surgical site, and such pulling during the surgical procedure can also cause unnecessary damage to the tissue.

Soft robots are characterized by their continuously deformable structure being compliant and capable of significant deformation under normal operating conditions. Their flexibility is more challenging for precise control requirements than for rigid structures, but soft robots are more adaptable and safe for complex environments than for rigid structures, with greater potential in, for example, search, rescue operations and human-centric tasks. The more common drive for soft body robots is pneumatic artificial muscles, with the basic structure being soft membranes, which expand and contract when inflated with compressed gas, causing the artificial muscles to contract and relax.

In view of the characteristics of arthroscopic surgery: in the process of arthroscopic surgery, the field of vision can be continuously flushed by physiological saline, the whole joint is filled with the physiological saline, the physiological saline can be discharged through the discharge port, and the whole joint is in a flowing water flushing state. Therefore, by utilizing the characteristics, the artificial muscle is driven by the physiological saline, the discharge process of the physiological saline is regulated and controlled, and the joint of the robot is driven to relax and contract, so that the arthroscopic surgical equipment is driven to flexibly bend.

Disclosure of Invention

The invention aims to provide a soft robot which utilizes the discharge process of physiological saline to drive arthroscopic surgical equipment to realize flexible bending motion and is convenient for multi-angle adjustment, and medical equipment with the soft robot.

In order to achieve the purpose, the invention provides a flexible robot convenient for multi-angle adjustment, which comprises a plurality of sections of flexible pipes, wherein the flexible pipes are sequentially connected end to end;

the water inlet end of each section of the hose is provided with a water inlet valve; the water outlet end of each section of the hose is provided with a water outlet valve; and a bending assisting cavity is arranged in the middle of each section of the hose, and a control valve is preset between the bending assisting cavity and the hose.

Preferably, the upper end face of the bending-assistant cavity is of a continuous concave-convex organ-shaped structure.

Preferably, the hose is a rubber hose or a metal hose with variability; the bending-assisted cavity is made of soft rubber.

The invention also provides an arthroscope which comprises a plurality of soft robots, cameras, a bendable waterproof layer and cables;

the camera is fixed at the end of the cable, and the periphery of the cable is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the cable and the bendable waterproof layer and are uniformly arranged along the periphery of the cable; the length direction of the soft robot is consistent with the length direction of the cable.

Preferably, an optical fiber for supplementing light for the camera is arranged at the end of the cable around the camera.

The invention also provides a grinding drill, which comprises a plurality of soft robots, a grinding head, a bendable water-resisting layer and a bendable driving rod;

the grinding head is fixed at the end head of the driving rod, and the periphery of the driving rod is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the driving rod and the bendable waterproof layer and are uniformly arranged along the periphery of the driving rod; the length direction of the soft robot is consistent with the length direction of the driving rod.

Preferably, a wear-resistant layer is preset between the driving rod and the soft robot.

The invention also provides an electric drill which comprises a plurality of soft robots, a drill bit, a bendable waterproof layer and a bendable driving rod;

the drill bit is fixed at the end of the driving rod, and the periphery of the driving rod is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the driving rod and the bendable waterproof layer and are uniformly arranged along one circle of the periphery of the driving rod; the length direction of the soft robot is consistent with the length direction of the driving rod.

Preferably, a wear-resistant layer is preset between the driving rod and the soft robot.

The invention also provides a rivet holder, which comprises a plurality of soft robots, rivet clamps, a bendable waterproof layer and a bendable fixing rod;

the rivet clip is fixed at the end of the fixed rod, and the periphery of the fixed rod is wrapped with the bendable waterproof layer;

the plurality of soft robots are arranged between the fixed rod and the bendable waterproof layer and are uniformly arranged along one circle of the periphery of the fixed rod; the length direction of the soft robot is consistent with the length direction of the fixed rod.

Compared with the prior art, the invention has the advantages that: the structure of the soft robot convenient for multi-angle adjustment provided by the invention can adjust and control the liquid volume in the bending-assisting cavity by adjusting and controlling the switches of the three electronic valves, and further adjust the bending degree of the hose, so that the medical equipment assembled with the soft robot can be flexibly adjusted and controlled at multiple angles by using the normal saline, the dead angle of the operation equipment in a human body is reduced as much as possible, the operation difficulty is reduced, and the harm to the body of a patient is reduced.

Drawings

FIG. 1 is a schematic diagram of an overall structure of a multi-angle adjustable soft robot according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating a "maintenance state" of a multi-angle adjustable soft robot according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a multi-angle adjustable soft robot "bending state" according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating a "recovery state" of a multi-angle adjustable soft robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a serial connection structure of a multi-angle adjustable soft robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of an arthroscope according to an embodiment of the present invention;

FIG. 7 is a schematic view of a structure of a grinder drill according to an embodiment of the present invention;

figure 8 is a schematic view of a drill according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a rivet holder in accordance with an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be further described below.

As shown in FIG. 1 and FIG. 5, the present invention provides a soft robot convenient for multi-angle adjustment, which comprises a plurality of sections of hoses 1, wherein the plurality of sections of hoses 1 are sequentially connected end to end;

the water inlet end of each section of hose 1 is provided with a water inlet valve 2; the water outlet end of each section of hose 1 is provided with a water outlet valve 3; the middle part of each section of the hose 1 is provided with a bending assisting cavity 5, and a control valve 4 is preset between the bending assisting cavity 5 and the hose 1.

In the present embodiment, the upper end surface of the bending-assistant cavity 5 is in a continuous concave-convex organ-shaped structure.

The flexible robot 6 convenient for multi-angle adjustment comprises a plurality of sections of flexible pipes 1, wherein the plurality of sections of flexible pipes 1 are sequentially connected end to end;

the water inlet end of each section of hose 1 is provided with a water inlet valve 2; the water outlet end of each section of hose 1 is provided with a water outlet valve 3; the middle part of each section of the hose 1 is provided with a bending assisting cavity 5, and a control valve 4 is preset between the bending assisting cavity 5 and the hose 1.

In the present embodiment, the upper end surface of the bending-assistant cavity 5 is in a continuous concave-convex organ-shaped structure.

In the present embodiment, the hose 1 is a rubber hose 1 or a metal hose having variability; the bending-assisted cavity 5 is a soft rubber body.

In this embodiment, the operator controls the water inlet valve 2, the water outlet valve 3 and the control valve 4 to realize that the soft robot 6 realizes three states:

as described in fig. 2, the maintenance state: the water inlet valve 2 and the water outlet valve 3 are opened, the control valve 4 is closed, the physiological saline in the joint cavity enters the aspirator through the water channel of the hose 1, and at the moment, the soft robot 6 is equivalent to an aspirating tube and is used as a channel for aspirating the physiological saline in the joint cavity.

As shown in fig. 3, the bent state: when the water inlet valve 2 and the control valve 4 are opened and the water outlet valve 3 is closed, at the moment, the physiological saline in the joint cavity enters the bending-assisted cavity 5 through the hose 1, and the upper end face of the organ-shaped structure begins to stretch out due to accumulation of liquid in the bending-assisted cavity 5, so that the hose 1 is pressed, and the bending of the hose 1 is realized.

As shown in fig. 4, the recovery state: and (3) opening the control valve 4 and the water outlet valve 3, closing the water inlet valve 2, discharging the physiological saline in the bending-assisted cavity 5 into the suction apparatus from the hose 1 at the moment, and reducing the curvature of the hose 1 until the hose is recovered.

The water outlet valve 3, the water inlet valve 2 and the control valve 4 are all electronic valves and can be opened and closed through external connecting equipment.

As shown in fig. 6, the present invention further provides an arthroscope, which comprises a plurality of soft robots 6, a camera 9, a bendable waterproof layer 7 and a cable 8;

the camera 9 is fixed at the end of the cable 8, and the periphery of the cable 8 is wrapped with the bendable waterproof layer 7;

the plurality of soft robots 6 are arranged between the cable 8 and the bendable waterproof layer 7, and the plurality of soft robots 6 are uniformly arranged along the periphery of the cable 8 in a circle; the length direction of the soft robot 6 is consistent with the length direction of the cable 8.

At the end of the cable 8, an optical fiber for supplementing light for the camera 9 is arranged around the camera 9.

Operating personnel can be through controlling many three valves on the software robot 6 to realize many software robots 6 and maintain the state, the switching of the three state of bending state and recovery state, further drive cable 8 and carry out angle adjustment, external operating equipment can supply power for camera 9 through cable 8, thereby drive the camera and explore each joint position in the human body, optical fiber can carry out the light filling for camera 9, further guarantee the image acquisition effect.

As shown in fig. 7, the present invention further provides a grinding drill, which comprises a plurality of soft robots 6, a grinding head 10, a bendable water barrier 7 and a bendable driving rod 13;

the grinding head 10 is fixed at the end of the driving rod 13, and the periphery of the driving rod 13 is wrapped with the bendable waterproof layer 7;

the plurality of soft robots 6 are arranged between the driving rod 13 and the bendable waterproof layer 7, and the plurality of soft robots 6 are uniformly arranged along the periphery of the driving rod 13 in a circle; the length direction of the soft robot 6 is consistent with the length direction of the driving rod 13.

An operator can control three valves on a plurality of soft robots 6, so that the plurality of soft robots 6 can be switched among a maintaining state, a bending state and a recovery state, the flexible angle switching of the driving rod 13 is further realized by using normal saline, meanwhile, external operation equipment such as a motor and the like can be fixedly connected with the tail ends of the driving rods 13 to drive the driving rods 13 to rotate, and further drive the abrasive drills to rotate, so that all joint parts in the human body can be conveniently polished; through setting up the wearing layer between actuating lever 13 and the soft body robot 6, the effectual actuating lever 13 of avoiding causes wearing and tearing to soft body robot 6 at the rotation in-process, the life of extension equipment.

As shown in fig. 8, the present invention further provides an electric drill, which comprises a plurality of soft robots 6, a drill bit 11, a bendable water-resisting layer 7 and a bendable driving rod 13;

the drill bit 11 is fixed at the end of the driving rod 13, and the periphery of the driving rod 13 is wrapped with the bendable waterproof layer 7;

the plurality of soft robots 6 are arranged between the driving rod 13 and the bendable waterproof layer 7, and the plurality of soft robots 6 are uniformly arranged along the periphery of the driving rod 13 in a circle; the length direction of the soft robot 6 is consistent with the length direction of the driving rod 13.

An operator can control three valves on a plurality of soft robots 6, so that the plurality of soft robots 6 can be switched among a maintaining state, a bending state and a recovery state, the flexible angle switching of the driving rod 13 is further realized by using physiological saline, meanwhile, external operation equipment such as a motor and the like can be fixedly connected with the tail ends of the driving rods 13 to drive the driving rods 13 to rotate, and further drive the drill bit 11 to rotate, so that the drilling of each joint part in the human body is facilitated; through setting up the wearing layer between actuating lever 13 and soft robot 6, effectual actuating lever 13 of avoiding causes wearing and tearing to soft robot 6 at the rotation in-process, prolongs the life of equipment

As shown in fig. 9, the present invention further provides a rivet holder, which comprises a plurality of soft robots 6, rivet clamps 12, a bendable waterproof layer 7 and a bendable fixing rod 14;

the rivet clip 12 is fixed at the end of the fixing rod 14, and the periphery of the fixing rod 14 is wrapped with the bendable waterproof layer 7;

the plurality of soft robots 6 are arranged between the fixing rod 14 and the bendable waterproof layer 7, and the plurality of soft robots 6 are uniformly arranged along the periphery of the fixing rod 14 in a circle; the length direction of the soft robot 6 is consistent with the length direction of the fixed rod 14.

An operator can control the three valves on the plurality of soft robots 6, so that the plurality of soft robots 6 are switched among three states of a maintaining state, a bending state and a restoring state, and the fixed rod 14 is flexibly switched among angles by using physiological saline, so that the rivet clamp 12 is conveniently driven to fix rivets on each joint part in a human body.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.